Exoskeleton apparatus and method

Abstract

The invention relates to an exoskeleton apparatus (10) comprising: a sensor device (6) for detecting positional information indicating a position of an exoskeleton (20) in relation to the surroundings, in particular in relation to the force of gravity; and a control device (7) for actuating an actuator device (5) in order to provide a supporting force for a body part, the control device (7) being designed to adapt the provision of the support force on the basis of the detected positional information and / or to adapt a shape of a base portion (1) and / or a mounting of the base portion (1) on the human body on the basis of the detected positional information.

Description

[0001] The invention relates to an exoskeleton device comprising an exoskeleton with a base section for attachment to a body section, in particular the torso, of a human body, a support section movably coupled to the base section for supporting a body part, preferably a limb, in particular an arm, of the human body, and an actuator device acting on the support section, in particular a pneumatic actuator device for providing a support force for the body part.

[0002] The exoskeleton is worn on the human body and supports the musculoskeletal system in specific postures and movements. Preferred areas of application for the exoskeleton are manual and industrial applications, where the user is supported by the exoskeleton during repetitive activities in strenuous postures. During these activities, the user assumes different postures, for example, different upper body positions, which can influence the support provided by the exoskeleton.

[0003] Exoskeletons are known, for example, from WO2017157941A1, EP3266422A1, EP2754538B1 and US20150025423A1.

[0004] WO 2010 / 101595 A1 describes a lower extremity exoskeleton to which sensors are added to measure the absolute angle between the exoskeleton torso and the gravitational vector, thereby making it possible to more accurately calculate the moment generated by a load around hip axes.

[0005] US 2020 / 0038218 A1 describes an arm lifting assistance device with an artificial tendon. A control system includes one or more posture sensors arranged to detect a current orientation of at least one of the user's torso and the user's upper arm with respect to a horizontal plane.

[0006] US 2014 / 0378882 A1 describes an exoskeleton with two torque generators, two leg connections and a support torso that is rotatably coupled to the leg connections.

[0007] An object of the invention is to increase the operational safety and / or the comfort of use of the exoskeleton device.

[0008] The object is achieved by an exoskeleton device according to claim 1. The exoskeleton device comprises a sensor device for detecting position information which indicates a position of the exoskeleton, in particular of the base section and / or the support section, in relation to the environment, in particular in relation to gravity, and a control device for controlling the actuator device, wherein the control device is designed to adapt the provision of the support force on the basis of the detected position information and / or to adapt the shape of the base section and / or the attachment of the base section to the human body on the basis of the detected position information.The control device is designed to adjust the support force according to a characteristic curve that sets the support force as a function of an angle between the base section and the support section, and the control device is further designed to scale the characteristic curve and / or to shift it with respect to the angle on the basis of the detected position information.

[0009] By capturing and considering this positional information, the exoskeleton can, for example, adjust the assistance force depending on the situation and / or posture and / or provide safety or comfort functions based on the user's upper body posture. By capturing this positional information, the exoskeleton can recognize the user's upper body posture and adjust the assistance force behavior accordingly. This can increase user comfort when working with the exoskeleton. Furthermore, capturing this positional information makes it possible to detect a dangerous situation, such as a user falling or tumbling. In this case, the exoskeleton can trigger an appropriate measure, such as deactivating the assistance force and / or the exoskeleton.

[0010] The body part is preferably a limb of the human body. For example, the body part is an arm of the human body. Furthermore, the body part may be the back of the human body. In this case, the base portion is conveniently designed for attachment to a leg of the human body; i.e., the body portion (to which the base portion is to be attached) may, for example, be a leg in the case where the body part is the back.

[0011] Advantageous further training is the subject of the subclaims.

[0012] The invention further relates to a method according to claim 15.

[0013] Further exemplary details and exemplary embodiments are explained below with reference to the figures. Figure 1 shows a schematic side view of an exoskeleton device, Figure 2 shows a schematic side view of an exoskeleton worn by a user, Figure 3 shows a schematic detailed view of a support section of the exoskeleton, Figure 4 shows a schematic rear view of the exoskeleton, Figure 5 shows various inclinations of the exoskeleton worn by the user, and Figure 6 shows a diagram with characteristic curves that set a support force as a function of an angle.

[0014] In the following explanations, reference is made to the orthogonally aligned spatial directions shown in the figures: x-direction, y-direction, and z-direction. The z-direction can also be referred to as the vertical direction, the x-direction as the depth direction, and the y-direction as the width direction.

[0015] The Figure 1shows a schematic representation of an exoskeleton device 10, which comprises an exoskeleton 20 and optionally a tool 30 and / or a mobile device 40. The exoskeleton 20 can also be provided on its own. The tool 30 and / or the mobile device 40 are, by way of example, present separately from the exoskeleton 20, i.e., in particular, they are not mechanically connected to the exoskeleton 20. The tool 30 is, for example, a power tool, in particular a cordless screwdriver and / or a drill and / or a grinder. The mobile device 40 is preferably a smartphone or a tablet. Optionally, the exoskeleton 20 is designed to communicate with the tool 30 and / or the mobile device 40, in particular wirelessly.

[0016] By way of example, the exoskeleton 20 is oriented in an upright orientation with its vertical axis (which runs in particular parallel to a base section axis 62) parallel to the z-direction. In particular, the exoskeleton 20 is oriented in the upright orientation with its sagittal axis parallel to the x-direction. In a state in which the user has put on the exoskeleton 20, the sagittal axis of the exoskeleton 20 runs parallel to the user's sagittal axis, i.e., in particular parallel to a direction from behind—i.e., in particular, the user's back—to front—i.e., in particular, the user's chest. The horizontal axis of the exoskeleton 20 runs in particular in the width direction of the exoskeleton 20 and / or parallel to the y-direction.When the user has put on the exoskeleton 20, the horizontal axis of the exoskeleton 20 runs parallel to the user's horizontal axis, i.e., in particular, parallel to a direction from a first shoulder of the user to a second shoulder of the user. The vertical axis of the exoskeleton 20, the sagittal axis of the exoskeleton 20, and the horizontal axis of the exoskeleton 20 are aligned orthogonally to one another.

[0017] The exoskeleton device 10 is particularly designed for craft and / or industrial use. Preferably, the exoskeleton device 10 is not designed for medical and / or therapeutic use.

[0018] The Exoskeleton 20 is an active exoskeleton and, in particular, features an internal energy source that provides the energy for the assistive force. Specifically, the Exoskeleton 20 is an active exoskeleton for actively supporting the user's shoulder joint.

[0019] The exoskeleton 20 comprises a base section 1, which serves for attachment to a portion of a user's human body. By way of example, the base section 1 serves for attachment to the torso 2 of the human body.

[0020] The base section 1 comprises a main section and a textile carrying system, which is particularly detachably attached to the main section. The main section serves, for example, to be worn on the back of the human body, particularly in a backpack-like manner, by means of the textile carrying system. The main section comprises a back part 8, which is particularly elongated and whose longitudinal axis is expediently aligned vertically and / or in the longitudinal direction of the user's back.

[0021] For example, the longitudinal direction of the back part 8 extends along the longitudinal direction of the back. The main section further comprises a particularly strip-shaped and / or rigid force transmission element 18, which extends from the back part 8 downwards to a lap belt 16 in order to mechanically couple the back part 8 to the lap belt 16. The force transmission element 18 expediently serves to transmit a reaction force transmitted from a support section 3 to the back part 8 further to the lap belt 16. By way of example, the back part 8 is designed to be tubular and / or backpack-shaped. The back part 8 is designed to be particularly rigid. In particular, the back part 8 comprises a suitably rigid back part housing, which is made, for example, from a particularly rigid plastic and / or as a hard shell.The back part 8 expediently serves to transmit a force from the support section 3 to the force transmission element 18 and / or to accommodate components for controlling the support force.

[0022] The support section 3 can conveniently be referred to as arm actuator.

[0023] The force transmission element 18 is, for example, sword-shaped and can also be referred to as a sword. The force transmission element 18 is expediently designed to be adjustable relative to the back part 8, in particular to change the vertical extent of the main section and / or a force transmission element angle 46 facing the user's back between the force transmission element 18 and the back part 8. The force transmission element 18 is expediently mounted so as to be translationally and / or rotationally movable relative to the back part 8 and, in particular, can be displaced and, in particular, locked into various translational and / or rotational positions relative to the back part 8. The translational movement occurs, in particular, vertically. The rotational movement expediently occurs about an adjustment axis aligned parallel to the y-direction.

[0024] The textile carrying system comprises, for example, the lap belt 16 and / or at least one, preferably two, shoulder straps 19. The lap belt 16 expediently forms a loop so that, when worn, it encloses the torso 2, in particular the hips, of the user. Each shoulder strap 19 runs, for example, from the main section, in particular from the back part 8, to the lap belt 16, expediently over a respective shoulder of the user when the exoskeleton 20 is worn.

[0025] The exoskeleton 20 further comprises, by way of example, a force transmission element joint 17, via which the force transmission element 18 is attached to the lap belt 16. The force transmission element joint 17 is designed, for example, as a ball joint and can be referred to as a sacral joint. When the exoskeleton 20 is worn, the force transmission element joint 17 is arranged in the lower back region of the user, in particular centered in the width direction.

[0026] The textile carrying system further comprises, by way of example, a back mesh 21 arranged on the side of the back part 8 facing the user's back. When the exoskeleton 20 is worn, the back mesh 21 rests against the user's back, in particular at least partially and / or in the upper back region.

[0027] The exoskeleton 20 further comprises the support section 3, which is movably coupled to the base section 1 and is used to support a body part, preferably a limb, in particular an arm 4, of the user's human body. The support section 3 is particularly designed to be attached to the body part, preferably the limb, in particular the arm 4, of the user. The support section 3 comprises, for example, a particularly rigid arm part 11 and an arm attachment 12 arranged on the arm part 11, which is, for example, designed as an arm shell. The arm part 11 is, for example, elongated and, when worn, is aligned with its longitudinal axis in the direction of the longitudinal axis of the user's arm. For example, the arm part 11 extends from the user's shoulder to the user's elbow area. The exoskeleton 20, in particular the arm part 11, ends, for example, at the user's elbow area.The arm attachment 12 serves, in particular, to attach the support section 3 to the arm 4, in particular the upper arm, of the user. In particular, the arm shell encompasses the user's upper arm, in particular at least partially, so that the upper arm can be held in the arm shell with a strap. The user's forearm is expediently not attached to the exoskeleton 20.

[0028] The support section 3 is, for example, pivotably mounted about a horizontal pivot axis relative to the base section 1, in particular relative to the back part 8. For example, the support section 3 is mounted directly on a shoulder part 29. The horizontal pivot axis can also be referred to as a lifting axis 36. When the exoskeleton 20 is worn, the lifting axis 36 is arranged in the area of ​​the user's shoulder. The exoskeleton 20 is particularly designed to support the user's shoulder joint with the support section 3. When the exoskeleton 20 is worn, the user can perform a lifting movement with his arm 4, which is supported by the support section 3, by pivoting the support section 3 about the lifting axis 36. The lifting axis 36 can be oriented in the y-direction, in particular. The lifting axis 36 expediently always lies in a horizontal plane, for example an xy-plane.A horizontal plane is understood to mean, in particular, an exactly horizontal plane and / or a plane that is tilted by a maximum of 10 degrees, 7 degrees or 5 degrees relative to a horizontal plane.

[0029] The pivot angle 47 of the support section 3 about the lifting axis 36 relative to the base section 1 shall also be referred to as the lifting angle. The pivot angle 47 has a reference value, in particular a minimum value, when the support section 3 is oriented downwards (with a vertically oriented exoskeleton 20), and continuously increases to a maximum value when the support section 3 pivots upwards. The minimum value is in particular a minimum value in terms of magnitude, for example, zero.

[0030] By way of example, the pivot angle 47 is defined as the angle between a support section axis 61 and a base section axis 62. The support section axis 61 runs in the longitudinal direction of the support section 3. By way of example, the support section axis 61 runs from the lifting axis 36 in the direction of the arm attachment 12. In a state in which the user has put on the exoskeleton 20, the support section axis 61 expediently runs parallel to an upper arm axis of the arm 4 supported by the support section 3. The base section axis 62 expediently represents a vertical axis of the base section 1 and runs vertically downwards, in particular when the base section 1 is vertically aligned, for example in a state in which the user has put on the exoskeleton 20 and is standing upright. The pivot angle 47 lies, by way of example, in a zx plane.

[0031] The exoskeleton 20 comprises, by way of example, a shoulder joint arrangement 9, via which the support section 3 is attached to the base section 1, in particular the back part 8. The shoulder joint arrangement 9 expediently comprises an articulated chain with one or more pivot bearings for defining one or more vertical axes of rotation. By means of the articulated chain, pivoting of the support section 3 relative to the base section 1, in particular relative to the back part 8, is expediently possible in a preferably horizontal pivot plane, for example about a particularly virtual vertical axis of rotation. In particular, the articulated chain enables the user to pivot their arm 4, supported by the support section 3, about a vertical axis of rotation extending through the user's shoulder, wherein the support section 3 is moved along with the arm 4.By way of example, the joint chain is designed to be passive, so that the exoskeleton 20 does not provide any active support force in the direction of the horizontal pivoting movement when pivoting the arm in the preferably horizontal pivoting plane.

[0032] The shoulder joint arrangement 9 is expediently arranged and / or designed such that it defines a free space which, when the exoskeleton 20 is worn, is located above the shoulder of the user wearing the exoskeleton 20, so that the user can align his arm, supported by the support section 3, vertically upwards through the free space past the shoulder joint arrangement 9.

[0033] The shoulder joint arrangement 9 comprises, by way of example, an inner shoulder joint section 27, which is mounted relative to the base section 1, in particular to the back part 8, by means of a first pivot bearing of the shoulder joint arrangement 9, so as to be pivotable about a first vertical axis of rotation. The shoulder joint arrangement 9 further comprises, by way of example, an outer shoulder joint section 28, which is mounted relative to the inner shoulder joint section 27, so as to be pivotable about a second vertical axis of rotation by means of a second pivot bearing of the shoulder joint arrangement 9. The shoulder joint arrangement 9 further comprises, by way of example, a shoulder part 29, which is mounted relative to the outer shoulder joint section 28, so as to be pivotable about a third vertical axis of rotation by means of a third pivot bearing of the shoulder joint arrangement 9.Preferably, the inner shoulder joint section 27, the outer shoulder joint section 28 and the shoulder part 29 in the shoulder joint arrangement 9 are kinematically coupled to one another as the joint chain in such a way that the pivot angle of the inner shoulder joint section 27 relative to the base section 1 determines the pivot angle of the outer shoulder joint section 28 relative to the inner shoulder joint section 27 and / or the pivot angle of the shoulder part 29 relative to the outer shoulder joint section 28.

[0034] The Figure 3 shows a schematic detailed view of the support section 3, with components arranged within the arm part 11 clearly marked. The arm part 11 expediently comprises an arm part housing, which is particularly rigid and made of plastic, for example.

[0035] The exoskeleton 20 comprises an actuator device 5 acting on the support section 3 for providing a support force for the body part, in particular the limb, for example the user's arm. By way of example, the actuator device 5 is arranged at least partially in the arm part 11.

[0036] The actuator device 5 is an active actuator device. The exoskeleton 20 expediently provides the assisting force by means of the actuator device 5 with a force component acting upward in the direction of the pivoting movement about the lifting axis 36, which pushes the user's arm 4 upward in the direction of the pivoting movement.

[0037] The actuator device 5 preferably comprises an actuator unit with an actuator member 32. The actuator unit can apply an actuator force to the actuator member 32 in order to provide the support force. The actuator member 32 is coupled to an eccentric section 35 arranged eccentrically to the lifting axis 36. The eccentric section 35 is, for example, part of the shoulder part 29. By coupling the actuator member 32 to the eccentric section 35, the actuator force provides a torque of the support section 3 about the lifting axis 36 relative to the base section 1 and / or the shoulder part 29. Due to this torque, the support section 3 presses against the body part, preferably the limb, in particular the arm 4, of the user, in particular upwards, and thus provides the support force acting on the body part, preferably the limb, in particular the arm 4, of the user.

[0038] By way of example, the actuator device 5 has a coupling element 33, which is designed in particular as a push rod, via which the actuator member 32 is coupled to the eccentric section 35.

[0039] Preferably, the actuator device 5 is a pneumatic actuator device, and the actuator unit is expediently designed as a pneumatic drive cylinder 31. The actuator member 32 is the piston rod of the drive cylinder 31.

[0040] Alternatively, the actuator device may also be designed as a non-pneumatic actuator device. For example, the actuator device may be designed as a hydraulic and / or electric actuator device and expediently comprise a hydraulic drive unit and / or an electric drive unit as the actuator unit.

[0041] The drive cylinder 31, the actuator member 32 and / or the coupling element 33 are preferably arranged in the arm part housing.

[0042] The exoskeleton 20 expediently comprises a lifting pivot bearing 34 that provides the lifting axis 36. For example, the support section 3 is attached to the shoulder joint assembly 9 via the lifting pivot bearing 34.

[0043] The Figure 4 shows a rear view of the exoskeleton 20, wherein the textile support system and the force transmission element 18 are not shown.

[0044] The exoskeleton 20 comprises, by way of example, one or more batteries 22, a compressor 23, a valve unit 24 and / or a compressed air tank 25, which are expediently part of the base section 1 and are arranged in particular in the back part housing.

[0045] By way of example, the battery 22 is arranged at the bottom of the back part 8 and, in particular, is inserted from below into a battery receptacle of the back part 8. The compressed air tank 25 is expediently arranged in an upper region in the back part 8, for example (in particular in the longitudinal direction of the back part 8 and / or vertical direction) above the valve unit 24, the control device 7, the compressor 23 and / or the battery 22. The valve unit 24 and / or the control device 7 is expediently arranged above the compressor and / or above the battery 22 (in particular in the longitudinal direction of the back part 8 and / or vertical direction). The compressor 23 is arranged above the battery 22 (in particular in the longitudinal direction of the back part 8 and / or vertical direction).

[0046] The battery 22 serves as an electrical energy supply for the exoskeleton 20, in particular for the compressor 23, the valve unit 24, a sensor device 6 and / or a control device 7.

[0047] The compressor 23 is designed to compress air to generate compressed air. The compressed air tank 25 is designed to store compressed air—in particular, the compressed air generated by the compressor 23.

[0048] The valve unit 24 expediently comprises one or more electrically actuated valves and is particularly designed to influence, in particular to selectively establish and / or block, a pneumatic connection from the compressed air tank 25 to a pressure chamber of the pneumatic drive cylinder 31. The valve unit 24 is further expediently designed to influence, in particular to selectively establish and / or block, a pneumatic connection from the compressed air tank 25 to the environment of the exoskeleton 20 and / or a pneumatic connection from the pressure chamber of the drive cylinder 31 to the environment of the exoskeleton 20. The valve unit 24 is expediently part of the actuator device 5.

[0049] The exoskeleton 20 further comprises a sensor device 6. By way of example, the sensor device 6 comprises an angle sensor 37 for detecting the angle of the support section 3 relative to the base section 1, in particular of the arm part 11 relative to the shoulder part 29. This angle shall also be referred to as the pivot angle 47 or the lifting angle. The angle sensor 37 serves in particular to detect the angle of the support section 3 about the lifting axis 36. The angle sensor 37 is designed, for example, as an incremental encoder and is arranged in particular on the lifting pivot bearing 34, in particular in the arm part 11 and / or in the shoulder part 29.

[0050] Preferably, the sensor device 6 further comprises at least one pressure sensor for detecting the pressure prevailing in the pressure chamber of the drive cylinder 31 and / or the pressure in the compressed air tank 25. The at least one pressure sensor is expediently arranged in the back part 8 and / or in the arm part 11.

[0051] The exoskeleton device 10, in particular the exoskeleton 20, expediently comprises a control device 7, which, for example, comprises a microcontroller or is designed as a microcontroller. The control device 7 serves, in particular, to control the actuator device 5, in particular the valve unit 24, in order to control the provision of the assist force. Furthermore, the control device 7 serves to read the sensor device 6, in particular to read data detected by the sensor device 6 and / or to communicate with the tool 30 and / or the mobile device 40. The control device 7 is preferably designed to adjust, in particular to regulate, the pressure prevailing in the pressure chamber of the drive cylinder 31 by controlling the valve unit 24, for example, taking into account a pressure value detected by the pressure sensor.In particular, the control device 7 is designed to increase the pressure prevailing in the pressure chamber by controlling the valve unit 24 in order to increase the assisting force and / or to reduce the pressure prevailing in the pressure chamber by controlling the valve unit 24 in order to reduce the assisting force.

[0052] According to a preferred embodiment, the control device 7 is designed to adjust the assist force based on the pivot angle 47 of the support section 3, which is detected in particular by means of the angle sensor 37. The user can expediently change the pivot angle 47 of the support section 3 by pivoting their arm 4 using their muscle power, and thereby influence, in particular, the provision of the assist force. In particular, the assist force is low enough that the user can change the pivot angle 47 of the support section 3 by pivoting their arm 4 using their muscle power. The assist force is limited, for example, by the design of the pneumatic system, in particular of the compressor, and / or by the control device 7.

[0053] The control device 7 is preferably part of the exoskeleton 20 and is arranged, for example, in the base section 1, in particular in the back part 8. Optionally, the control device 7 can be implemented at least partially in the mobile device 40.

[0054] The exoskeleton 20 comprises, by way of example, a control element 14, which is expediently attached to the base section 1 via a control element cable 15. Using the control element 14, the user can control the exoskeleton 20 and, in particular, activate, deactivate, and / or set the assist force to one of several possible force values ​​greater than zero.

[0055] The exoskeleton 20 further comprises, by way of example, a connecting element 26, via which the shoulder joint assembly 9 is attached to the base section 1, in particular the back section 8. The connecting element 26 is, by way of example, designed as an extension element. The connecting element 26 is expediently adjustable in its position relative to the base section 1, in particular relative to the back section 8, in order to be able to adapt the position of the shoulder joint assembly 9 and the support section 3 to the shoulder width of the user. In particular, the position of the connecting element 26 is adjustable by pushing or pulling the connecting element 26 into or out of the back section 8.

[0056] By way of example, the exoskeleton 20 has a first support section 3A, a first shoulder joint arrangement 9A, and a first connecting element 26A, as well as a second support section 3B, a second shoulder joint arrangement 9B, and a second connecting element 26B. The components whose reference symbols are provided with the suffix "A" or "B" are expediently designed to correspond to the components provided with the same reference number but without the suffix "A" or "B," for example, identically or mirror-symmetrically, so that the relevant explanations apply accordingly.

[0057] The first support section 3A, the first shoulder joint arrangement 9A and the first connecting element 26A are arranged on a first, exemplarily the right, side (in the width direction) of the base section 1 and serve to support a first, in particular the right, arm of the user.

[0058] The second support section 3B, the second shoulder joint arrangement 9B and the second connecting element 26B are arranged on a second, exemplarily the left, side (in the width direction) of the base section 1 and serve to support a second, in particular the left, arm of the user.

[0059] The first support section 3A comprises a first arm part 11A, a first arm attachment 12A and / or a first actuator unit, in particular a first drive cylinder.

[0060] The second support section 3A comprises a second arm part 11B, a second arm attachment 12B and / or a second actuator unit, in particular a second drive cylinder.

[0061] Preferably, the control device 7 is designed to set a first support force for the first support section 3A, which is effected by means of the first actuator unit, and to set a second support force, which is effected by means of the second actuator unit, for the second support section 3B, which second support force expediently differs from the first support force.

[0062] The first shoulder joint assembly 9A comprises a first inner shoulder joint portion 27A, a first outer shoulder joint portion 28A, and a first shoulder part 29A. The second shoulder joint assembly 9B comprises a second inner shoulder joint portion 27B, a second outer shoulder joint portion 28B, and a second shoulder part 29B.

[0063] The first support section 3A is pivotable about a first horizontal lifting axis 36A relative to the base section 1 and the second support section 3B is pivotable about a second horizontal lifting axis 36B relative to the base section 1.

[0064] In the Figure 2 The exoskeleton 20 is shown in a state in which it is worn by a user, in particular worn as intended. The phrase "the user is wearing the exoskeleton 20, in particular wearing it as intended," means that the user has put on—i.e., has put on—the exoskeleton, for example by carrying the back part 8 on their back like a backpack, by fastening the lap belt 16 around their hips, by having the shoulder straps 19 run over the shoulder or shoulders of the user, and / or by having one or both arms of the user fastened to the respective support section 3 with a respective arm attachment 12.

[0065] By way of example, the exoskeleton 20 is designed to support the user during a lifting movement of a respective arm, i.e., during an upward pivoting of the respective support section 3 about a respective lifting axis 36, with a respective, in particular upward-acting, support force. Furthermore, the exoskeleton 20 is expediently designed to support or counteract the user during a lowering movement, i.e., during a downward pivoting of the respective support section 3 about a respective lifting axis 36, with a respective, in particular upward-acting support force, or to deactivate or reduce the respective support force during the lowering movement.

[0066] The following will discuss in more detail the collection of situation information mentioned at the beginning.

[0067] The sensor device 6 is designed to detect position information that indicates a position of the exoskeleton 20, in particular of the base section 1 and / or the support section 3, with respect to the environment, in particular with respect to gravity.

[0068] For example, the sensor device 6 comprises one or more position sensors 38 for detecting the position information. In particular, the sensor device 6 comprises, as position sensor 38, an acceleration sensor and / or a gyroscope and / or an inertial measuring unit and / or a magnetometer and / or an optical sensor. One or more position sensors 38 can be arranged on the base section 1, in particular on the back part 8 and / or on the lap belt 16, and are then referred to as base section position sensors. Furthermore, one or more position sensors 38 can be arranged on the support section 3, in particular on the arm part 11, and are then referred to as support section position sensors.

[0069] In a preferred embodiment, the exoskeleton 20 comprises, as position sensor 38, an acceleration sensor arranged on the arm part 11, an acceleration sensor arranged on the back part 8, a gyroscope arranged on the back part 8 and / or an acceleration sensor arranged on the lap belt 16.

[0070] Preferably, the exoskeleton 20 is designed to detect an inclination, in particular an inclination angle 39, relative to the environment, in particular relative to gravity, by means of the sensor device 6, in particular the at least one position sensor 38, as the position information.

[0071] Optionally, the exoskeleton device 10 can include one or more position sensors arranged separately from the exoskeleton 20 for detecting position information. For example, a position sensor can be integrated into a belt or vest.

[0072] In the Figure 5The direction 41 of gravity is shown as a dashed line. The direction 41 of gravity is parallel to the z-direction and / or is in particular antiparallel and / or opposite to the z-direction. Furthermore, Figure 5 A vertical alignment axis 42 is shown, which is arranged in a fixed position relative to the exoskeleton 20, in particular the base section 1, preferably the back part 8. When the user wearing the exoskeleton 20 is standing upright, the alignment axis 42 is vertically aligned, in particular parallel to the direction of gravity 41. The alignment axis 42 is, for example, equal to the base section axis 62.

[0073] The inclination angle 39 detected by the position sensor 38 is expediently the angle between the direction of gravity 41 and the alignment axis 42.

[0074] The angle of inclination 39 detected by the sensor device 6 expediently indicates the inclination of the user's torso 2 - in particular, the user's upper body posture. A forward inclination - for example, when the user's upper body posture is bent forward, as in the Figure 5 shown on the right - is called a positive inclination and results in a positive inclination angle 39. A backward inclination - for example, when the user is bent backwards in the upper body posture, as in the Figure 5 shown on the left - shall be referred to as negative inclination and results in a negative inclination angle 39. With an alignment axis 42 aligned parallel to the direction of gravity, the inclination angle 39 is zero.

[0075] Optionally, the sensor device 6 can have an optical sensor, in particular an image sensor, and the control device 7 can be designed to determine the position information, in particular the inclination angle 39, on the basis of optical sensor data acquired with the optical sensor, for example by the control device 7 detecting markers in the sensor data and inferring the position information based on a detected position and / or orientation of the markers.

[0076] According to one possible embodiment, the control device 7 is designed to detect an angle of the support section 3, in particular the longitudinal axis 48 of the support section 3, relative to the direction of gravity 41 as the position information. This angle shall also be referred to as the support section absolute angle 49.

[0077] Preferably, the control device 7 detects the support section absolute angle 49 directly, in particular by means of a support section position sensor embodied, for example, as an acceleration sensor. Furthermore, the control device 7 can detect the support section absolute angle 49 indirectly, specifically by detecting the pivot angle 47 of the support section 3 relative to the base section 1 and the inclination angle 39 of the base section 1 relative to the direction of gravity 41 and calculating the support section absolute angle 49 based on the pivot angle 47 and the inclination angle 39, in particular as the difference between the pivot angle 47 and the inclination angle 39.

[0078] The longitudinal axis 48 of the support section 3 is, for example, equal to or parallel to the support section axis 61.

[0079] According to a preferred embodiment, the exoskeleton 20 comprises a support section position sensor arranged on the support section 3, which is designed in particular as an acceleration sensor. The control device 7 is configured to use the support section position sensor to detect the position information, in particular the inclination angle 39 of the base section 1, in particular of the back part 8, relative to gravity. The control device 7 is preferably configured to take into account an angle—for example, the pivot angle 47—between the base section 1 and the support section 3 when detecting the position information.

[0080] For example, the control device 7 detects the pivot angle 47 of the support section 3 relative to the base section 1 with the angle sensor 37 and the support section absolute angle 49 of the support section 3 relative to gravity with the support section position sensor and calculates the inclination angle 39 of the base section 1 relative to gravity as the position information from the pivot angle 47 and the support section absolute angle 49.

[0081] The following will explain in more detail how the location information can be used.

[0082] The control device 7 is designed to adapt the provision of the support force on the basis of the detected position information and / or to adapt the shape of the base section 1 and / or the attachment of the base section 1 to the user on the basis of the detected position information.

[0083] First, regarding the adjustment of the support force: According to a preferred embodiment, the control device 7 is designed to adjust the provision of the support force on the basis of the detected position information in such a way that the influence of an inclination of the base section 1 relative to the environment, in particular relative to gravity, on the support force is compensated.

[0084] In particular, the control device 7 is designed to effect a smaller support force in response to a detected position information which indicates a greater inclination of the base section 1 relative to the environment, in particular to gravity, than in response to a detected second position information which indicates a smaller inclination of the base section, in particular at the same angle of the support section 3 relative to the base section 1.

[0085] For example, the control device 7 effects a first assist force in response to detected first position information indicating a first inclination of the base section 1 relative to the environment, in particular to gravity, and effects a second assist force in response to detected second position information indicating a second inclination of the base section, in particular at the same pivot angle 47 of the support section relative to the base section. The first inclination is greater than the second inclination, and the first assist force is smaller than the second assist force. In particular, the control device 7 effects a decreasing assist force (at a constant pivot angle 47) as the inclination angle 39 increases.

[0086] Conveniently, the control device 7 adjusts the assist force depending on the pivot angle 47, in particular such that the assist force increases in at least a first pivot angle range with increasing pivot angle 47. For example, the assist force should be minimal, for example, zero, when the user's arm is directed vertically downwards.

[0087] If the user bends their upper body and thus the base section 1 forward, while still keeping their arm pointing vertically downward, the pivot angle 47 increases, which, due to the dependence of the support force on the pivot angle 47, would lead to an increase in the support force without any compensating measure. Based on the position information, the control device 7 detects that the base section 1 is tilted forward and compensates for this influence of the inclination of the base section 1 (and the resulting increased pivot angle 47) on the calculation of the support force by reducing the support force specified by the pivot angle 47 according to the inclination of the base section 1—i.e., according to the inclination angle 39.In particular, the control device 7 carries out the compensation on the basis of the inclination angle 39 such that, with the arm 4 oriented vertically downwards and the base section 1 tilted forwards, the support force is minimal, in particular equal to zero, in particular for each inclination angle 39.

[0088] Preferably, the control device 7 performs the compensation based on the inclination angle 39 such that, with the arm 4 directed downwards and the base section 1 tilted forwards within a predetermined angular range, the assist force is minimal, in particular equal to zero, in particular for each inclination angle 39. The predetermined angular range expediently extends from minus 10 degrees to plus 10 degrees with respect to the direction of gravity 41 or from minus 20 degrees to plus 20 degrees with respect to the direction of gravity 41.

[0089] In particular, the control device 7 carries out a correction of the support force - i.e. the force support of one or both arms - according to the detected body posture - namely the position information, in particular the angle of inclination 39.

[0090] According to a preferred embodiment, the control device 7 controls the assist force such that the assist force is independent of the inclination of the base section 1—i.e., independent of the inclination angle 39—and in particular dependent on the absolute angle 49 of the assist section. For example, the control device 7 adjusts the assist force based on the absolute angle 49 of the assist section.

[0091] The support force is expediently adjusted in such a way that arms hanging vertically downwards, in particular arms directed vertically downwards, do not experience any support force, particularly regardless of the inclination of the upper body.

[0092] According to a preferred embodiment, the control device 7 is configured to adjust the assist force according to a characteristic curve 52, which sets the assist force as a function of an angle—in particular, the pivot angle 47—between the base section 1 and the support section 3. The control device 7 is configured to scale the characteristic curve 52 and / or shift it with respect to the angle based on the detected position information. Furthermore, the control device 7 is configured to adjust the assist force according to the scaled and / or shifted characteristic curve.

[0093] The Figure 6shows a diagram with an exemplary characteristic curve 52 together with a first shifted characteristic curve 53 and a second shifted characteristic curve 54. The pivot angle 47 is plotted on the horizontal axis and the assist force on the vertical axis. The characteristic curve 52 comprises (particularly in the direction of the increasing pivot angle 47) a first characteristic curve section 55, a second characteristic curve section 56 adjoining the first characteristic curve section 55, and a third characteristic curve section 57 adjoining the second characteristic curve section 56. By way of example, the first characteristic curve section 55 is constant, in particular equal to zero, the second characteristic curve section 56 is increasing, in particular linearly increasing, and the third characteristic curve section 57 is constant, in particular greater than zero.According to the characteristic curve 52, the support force is initially constant zero as the swivel angle 47 increases, then increases linearly, and then remains at a constant value greater than zero.

[0094] The control device 7 is preferably designed to shift the characteristic curve 52 with respect to the pivot angle 47—i.e., in the direction of the horizontal axis—based on the inclination angle 39. For example, the control device 7 shifts the characteristic curve 52 by the inclination angle 39 in the direction of the increasing pivot angle 47. By way of example, the control device 7 shifts the characteristic curve 52 by the first inclination angle 39 at a first inclination angle 39 in the direction of the increasing pivot angle 47 in order to obtain the first shifted characteristic curve 53. Furthermore, the control device 7 shifts the characteristic curve 52 by the second inclination angle 39 at a second inclination angle 39 in the direction of the increasing pivot angle 47 in order to obtain the second shifted characteristic curve 53.By way of example, the second inclination angle 39 is greater than the first inclination angle 39 and the second characteristic curve section of the first shifted characteristic curve 53 lies in the direction of the horizontal axis of the diagram between the second characteristic curve section 56 of the characteristic curve 52 and the second characteristic curve section of the second shifted characteristic curve 54.

[0095] According to an optional embodiment, the control device 7 is designed to adjust the support force according to a characteristic curve 52, which sets the support force as a function of an angle - in particular the support section absolute angle 49 - between the direction of gravity 41 and the support section 3.

[0096] According to a preferred embodiment, the control device 7 is designed to bring about a reduction and / or deactivation of the support force in response to the detected position information indicating an inclination of the base section 1 relative to the environment, in particular to gravity, which exceeds or falls below an inclination threshold value.

[0097] In the Figure 5Exemplary inclination threshold values ​​are shown. By way of example, the control device 7 compares the inclination angle 39 with a first inclination threshold value 43, which indicates a forward inclination and is in particular positive, and causes the reduction and / or deactivation of the assistance force in response to the inclination angle 39 exceeding the first inclination threshold value 43. The first inclination threshold value 43 is, for example, 50°. By way of example, the control device 7 compares the inclination angle 39 with a second inclination threshold value 44, which indicates a backward inclination and is in particular negative, and causes the reduction and / or deactivation of the assistance force in response to the inclination angle 39 falling below the second inclination threshold value 44. The second inclination threshold value 44 is, for example, -30°.Conveniently, the first inclination threshold 43 and the second inclination threshold 44 differ in their magnitude. Conveniently, the first inclination threshold 43 is greater in magnitude than the second inclination threshold 44.

[0098] Preferably, the control device 7 is designed to cause an output of a warning signal perceptible by the user of the exoskeleton device 10 in response to the detected position information indicating an inclination of the base section 1 relative to the environment, in particular to gravity, which exceeds and / or falls below an inclination threshold value and / or is close to the inclination threshold value.

[0099] For example, the control device 7 compares the inclination angle 39 with a warning inclination threshold 45 and triggers the output of the warning signal if the inclination angle 39 exceeds or falls below the warning inclination threshold 45. In the example shown, the warning inclination threshold 45 is defined for a backward inclination and is accordingly negative, for example, -20°. Alternatively or additionally, a warning inclination threshold can be defined for a forward inclination. The warning inclination threshold 45 is expediently smaller in magnitude than the first inclination threshold 43 and / or the second inclination threshold 44.

[0100] The exoskeleton device 10, for example, the exoskeleton 20 and / or the mobile device 40, has an output device controlled by the control device 7 for outputting the warning signal. For example, the warning signal is provided by the actuator device 5, in particular the drive cylinder 31, for example as a vibration.

[0101] The warning signal is, for example, a visual, acoustic, and / or tactile signal. The control device 7 is expediently configured to increase the intensity of the warning signal the closer the inclination angle 39 approaches a threshold value. The intensity is increased, for example, by an increasingly faster warning tone, an increasingly faster flashing of a warning light in the user's field of vision, and / or an increasingly stronger vibration of the support section 3.

[0102] By way of example, the control device 7 is configured to successively reduce the assistance force as the inclination angle 39 increasingly approaches an inclination threshold value. For example, when the upper body is in a reclined position, the exoskeleton 20 initially displays a visual, acoustic, and / or tactile warning upon approaching the second inclination threshold value 44. As the angle of inclination continues to approach, the exoskeleton 20 successively reduces the assistance force and escalates the visual, acoustic, and / or tactile warning before the exoskeleton 20 completely deactivates the assistance force when the angle falls below the second inclination threshold value when the upper body is in a reclined position. For example, a linear reduction of the assistance force occurs until the assistance force is deactivated.

[0103] According to a preferred embodiment, the control device 7 is designed to detect an emergency situation, for example a free fall, in particular of the user, on the basis of the acquired position information.

[0104] For example, the position information indicates an acceleration of the exoskeleton. The control device 7 is expediently designed to compare the position information, in particular a detected acceleration, with an emergency situation threshold and to detect the emergency situation upon reaching the emergency situation threshold.

[0105] In particular, the control device 7 is designed to effect an emergency reaction in response to the detected emergency situation, in particular a deactivation of the support force and / or a deactivation of the tool 30 and / or the making of an emergency call, in particular by means of the mobile device 40, and / or a detachment of the exoskeleton 20 from the user.

[0106] Preferably, the emergency situation is detected by means of a sensor worn by the user, in particular a (multi-axis) acceleration sensor, and in response to the detected emergency situation, control software (which is executed, for example, on the control device 7) puts the devices used by the user - in particular the exoskeleton 20, the tool 30 and / or the mobile device 40) into an emergency response mode.

[0107] According to a preferred embodiment, the control device 7 has at least two manually and / or automatically selectable presets, each having at least one preset characteristic that defines a support force specification as a function of at least one input variable, in particular the detected position and / or the pivot angle 47, wherein the at least two presets differ in their preset characteristic. The control device 7 is designed to determine the support force specification as a function of the input variable using a preset selected from the at least two presets and to set the support force based on the support force specification. The presets can also be referred to as application profiles, and the preset characteristics can also be referred to as application profile characteristics.

[0108] The control device is preferably configured to select the preset from the at least two presets based on the detected position information. For example, the control device 7 can automatically activate a preset based on an upper body posture (detected according to the position information).

[0109] A preset can expediently be created and / or configured by the user, in particular by means of the mobile device 40. For example, a preset comprises working range information that defines the range of the inclination angle 39 in which the support force should be provided. For example, an overhead work preset is present which contains the working range information that from a first predetermined positive inclination angle 39, i.e. from a first predetermined upper body position, no support force should be provided. Furthermore, a load lifting preset is expediently present which contains the working range information that the support force should still be provided at the first predetermined positive inclination angle 39. Different presets therefore expediently define different ranges of the inclination angle 39 in which the support force should be provided.Within the working areas in which the support force is provided, the presets expediently establish a dependency between the support force and the swivel angle 47.

[0110] Preferably, by means of the exoskeleton device 10, in particular by means of the mobile device 40, an adaptation of a characteristic curve which sets the assistance force as a function of the pivot angle 47 can be configured as a function of the inclination angle 39 and can be stored as part of a preset.

[0111] The following will explain in more detail how the shape of the base section 1 and / or the attachment of the base section 1 to the human body can be adapted based on the position information.

[0112] According to a preferred embodiment, the base section 1 has a back element. The back element is formed, for example, by the back part 8 and the force transmission element 18. The control device 7 is configured to adjust the stiffness, length, and / or position of the back element based on the detected position information.

[0113] For example, the exoskeleton 20 is designed to adapt the force transmission element angle 46 based on the position information, in particular such that with a larger inclination angle 39 the force transmission element angle 46 is reduced, in particular by rotational movement of the force transmission element 18 about the adjustment axis relative to the back part 8. In this way, the shape of the base section 1 can be adapted to the posture of the user.

[0114] Preferably, the exoskeleton 20 is designed to adapt a flexural rigidity of the back element, in particular about a bending axis running parallel to the y-direction, on the basis of the position information.

[0115] For example, the exoskeleton 20 adapts the stiffness of the force transmission element 18 depending on the upper body angle (indicated by the position information), in particular such that the force transmission element 18 has a higher stiffness when the user is in an upright posture than when he is bent forward.

[0116] For example, the exoskeleton 20 is designed to adapt the length, in particular the vertical extent, of the back element on the basis of the position information, in particular by translational movement of the force transmission element 18 relative to the back part 8.

[0117] According to a preferred embodiment, the base section has a fastening strap, in particular the lap belt 16, and the control device 7 is configured to vary the tension of the fastening strap based on the detected position information, in particular to tighten or loosen it. For example, the tension of the user's lap belt 16 is reduced when the user bends forward and is tightened again when the user returns to an upright posture.

[0118] The exoskeleton 20 preferably comprises one or more electrical and / or pneumatic actuators controlled by the control device 7, for example a back element actuator and / or a lap belt actuator, for carrying out one or more of the aforementioned adjustments.

Claims

1. Exoskeleton device (10), comprising: an exoskeleton (20): - a base section (1) for attachment to a body section, in particular the torso (2), of a human body, - a support section (3) movably coupled to the base section (1) for supporting a body part, preferably a limb, in particular an arm (4), of the human body, - an actuator device (5), in particular a pneumatic actuator device, acting on the support section (3) for providing a support force for the body part, wherein the exoskeleton device (10) further comprises: - a sensor device (6) for detecting position information which indicates a position of the exoskeleton (20), in particular of the base section (1) and / or the support section (3), in relation to the environment, in particular in relation to gravity, and - a control device (7) for controlling the actuator device (5), wherein the control device (7) is configured to adapt the provision of the support force on the basis of the detected position information and / or to adapt, on the basis of the detected position information, the shape of the base section (1) and / or the attachment of the base section (1), wherein the control device (7) is configured to set the support force according to a characteristic curve (52) which defines the support force as a function of an angle between the base section (1) and the support section (3), and the control device (7) is further configured to scale the characteristic curve on the basis of the detected position information and / or to shift the characteristic curve (52) with respect to the angle.

2. Exoskeleton device (10) according to claim 1, wherein the control device (7) is configured to adapt the provision of the support force on the basis of the detected position information in such a way that the influence of an inclination of the base section (1) relative to the environment on the support force is compensated.

3. Exoskeleton device (10) according to claim 1 or 2, wherein the control device (7) is configured to effect a smaller support force in response to detected position information indicating a greater inclination of the base section (1) than in response to detected position information indicating a smaller inclination of the base section (1), in particular at the same angle of the support section (3) relative to the base section (1).

4. Exoskeleton device (10) according to one of the preceding claims, wherein the control device (7) is configured to cause a reduction and / or deactivation of the support force in response to the detected position information indicating an inclination of the base section (1) relative to the environment which exceeds or falls below an inclination threshold value.

5. Exoskeleton device (10) according to a preceding claim, wherein the control device (7) is configured, in response to the detected position information indicating an inclination of the base section (1) relative to the environment which exceeds and / or falls below an inclination threshold value and / or is close to the inclination threshold value, to cause an output of a warning signal which is perceivable by the user of the exoskeleton device (10).

6. Exoskeleton device (10) according to a preceding claim, wherein the control device (7) is configured to detect an emergency situation, for example a free fall, on the basis of the detected position information.

7. Exoskeleton device (10) according to claim 6, wherein the control device (7) is configured to effect an emergency reaction in response to the detected emergency situation, in particular a deactivation of the support force and / or a deactivation of a tool (30) and / or the sending of an emergency call and / or a jettisoning of the exoskeleton (20) from the user.

8. Exoskeleton device (10) according to a preceding claim, wherein the sensor device (6) has a support section sensor element, in particular an acceleration sensor, attached to the support section (3), and the control device (7) is configured to detect the position information with the support section sensor element.

9. Exoskeleton device (10) according to a preceding claim, wherein the control device (7) is configured to take into account an angle between the base section (1) and the support section (3) when detecting the position information.

10. Exoskeleton device (10) according to a preceding claim, wherein the base section (1) has a back element and the control device (7) is designed to adjust a stiffness, length and / or position of the back element on the basis of the detected position information.

11. Exoskeleton device (10) according to a preceding claim, wherein the base section (1) has a fastening strap, in particular a pelvic strap (16), and the control device (7) is configured to vary the tension of the fastening strap (16) on the basis of the detected position information, in particular to tighten or relax it.

12. Exoskeleton device (10) according to a preceding claim, wherein the control device (7) has at least two manually and / or automatically selectable presets which each have at least one preset characteristic which defines a support force specification as a function of at least one input variable, in particular the detected position, wherein the at least two presets differ in their preset characteristics, and wherein the control device (7) is configured to determine, using a preset selected from the at least two presets, the support force specification as a function of the input variable and to set the support force on the basis of the support force preset.

13. Exoskeleton device (10) according to claim 12, wherein the control device (7) is configured to select the preset from the at least two presets on the basis of the detected position information.

14. A method of operating an exoskeleton device (10) according to any one of the preceding claims, comprising the steps of: - detecting the position information, - based on the detected position information, adjusting the support force and / or adjusting the shape and / or attachment of the base section (1).

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